大规模固定翼无人机集群编队控制方法研究
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国防科技大学智能科学学院

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TP273

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国家自然科学基金项目(61973309, 61702528)


Research on formation control of large-scale fixed-wing unmanned aerial vehicle swarms
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College of Intelligence Science and Technology, National University of Defense Technology

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    摘要:

    针对大规模固定翼无人机集群的编队控制问题,提出一种分层分组控制方案。首先,设计了一种分布式的无人机集群分层分组控制架构,将集群内所有无人机分成若干独立且不相交的群组,并在群组内分别形成“长机层”和“僚机层”。其次,对各群组内的长机设计协同路径跟随控制律,使长机收敛到各自期望路径上的虚拟目标点,并通过对各虚拟目标点的协调控制实现长机的协同,进而实现各群组间的协同。再次,对各组的僚机设计控制律以跟随其所在群组的长机,使其与长机保持期望的相对位置且朝向一致。设计的大规模集群编队控制律考虑了固定翼无人机的控制约束和环境中风的影响,并证明了闭环系统的稳定性。100架固定翼无人机集群的全流程数值仿真,验证了所提出的控制方法的有效性。

    Abstract:

    This paper considers the formation control of large-scale fixed-wing UAV swarms, and proposes a group-based hierarchical method. Firstly, a fully distributed group-based control architecture is proposed for the UAV swarms, which divides all the UAVs into several distinct and non-overlapping groups, and the UAVs in each group are organized into two layers, the \emph{leader layer} and the \emph{follower layer}. Secondly, for leader UAVs, the coordinated path following control law is proposed, which steers the leader UAVs towards their virtual targets on their desired paths, and achieves the coordination of leader UAVs by coordinating the movement of the virtual targets. Besides, leader-following formation control law is proposed for the follower UAVs to follower the leader UAVs in their respective groups. The proposed formation control law for large-scale swarms considers the control constraints of fixed-wing UAVs and wind influence, and the closed-loop stability is theoretically guaranteed. Numerical simulations of a swarm consisting of 100 fixed-wing UAVs in a whole process from circling aggregation to mission execution are conducted, which validate the effectiveness of the proposed method method for large-scale swarms.

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历史
  • 收稿日期:2020-01-16
  • 最后修改日期:2021-03-30
  • 录用日期:2020-05-12
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